Title :
Application of a multi-input backstepping design with second order sliding modes to control mechanical systems with flexibility
Author :
Ferrara, Antonella ; Giacomini, Luisa
Author_Institution :
Dept. of Commun., Comput. & Syst. Sci., Univ. of Genova, Italy
Abstract :
In this note, a robust control algorithm for nonlinear multi-input uncertain systems is presented. It applies to the class of systems transformable by a diffeomorphic map into the so-called parametric-pure feedback form. A tracking control objective is attained via the combination of the well-known backstepping design and the MIMO extension of a recently developed second-order sliding-mode strategy
Keywords :
MIMO systems; control system synthesis; feedback; multivariable control systems; nonlinear control systems; robust control; uncertain systems; variable structure systems; MIMO extension; diffeomorphic map; mechanical systems; multi-input backstepping design; nonlinear multi-input uncertain systems; parametric-pure feedback form; robust control algorithm; second-order sliding modes; tracking control; Backstepping; Communication system control; Control systems; Feedback; Mechanical systems; Mechanical variables control; Nonlinear equations; Sliding mode control; Uncertain systems; Uncertainty;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.757767
